Design Of Mine Monorail Crane Vehicle Controller Based On CAN Bus

Due to the impact of the epidemic,the domestic demand for coal has increased sharply.It proposed to apply the vehicle controller to the mining monorail crane,because the traditional monorail crane control system is complex and the coordination between the systems is poor.This paper takes the monorail crane vehicle controller design project as the background,takes the vehicle controller as the research object,takes the mining monorail crane as the application object,designs the vehicle controller,formulates the vehicle control strategy,which carries on the in-depth study to the CAN bus theory,the monorail crane multi-motor cooperative control problem.The main research contents are as follows:(1)In view of the complexity of the operation environment in the mine,the control node of CAN bus is designed,and the high-rate channel is set for the system with greater influence in the operation of monorail crane,and the low-rate channel is set for the system with less influence.Deal with CAN bus delay problems,analysis of the conventional scheduling algorithm,and optimize the algorithms proposed deadline partition double mix scheduling algorithm,based on the deadline of the monorail message length,combined with isometric partitioning index partition,the deadline mix partition method,for large interval to isometric partitioning,to take the index partition between zones,According to the message group distribution of monorail crane,the bus utilization rate is calculated by algorithm,and the influence of partition algorithm on schedulability is verified.(2)In view of the problems of poor performance and synchronization of cooperative control of multiple motors in monorail crane,the electrical connection mode of multiple motors is studied,and appropriate connection mode is designed,so that the motor control can achieve simple connection mode,small calculation and good stability.In order to solve the problem of poor stability of traditional PID algorithm,fuzzy control theory is introduced and a double closed-loop fuzzy PID control model is established.Through simulation,the improvement of motor running stability by fuzzy control algorithm is analyzed.(3)Aiming at the problems of complex and poor coordination control of traditional locomotive control system,the whole vehicle controller is designed to achieve the goal of integration and precision of locomotive control.According to the type of data,the circuit of data acquisition board is designed to collect system data.According to the external logic requirements,design the control board circuit for the output control of the system.In order to process the collected data and output reasonable control instructions,the software part of the vehicle controller was designed,the basic framework was built,the data processing rules were formulated,and the flow chart of the software bottom layer and the program flow chart of the application layer were designed.By solving the CAN bus delay problem and analyzing the conventional scheduling algorithm,a double-hybrid scheduling algorithm is designed to optimize the message delay problem by allocating the message priority reasonably through the deadline partition strategy.Through CAN communication simulation experiment,design a double closed-loop control model based on the combination of fuzzy theory and vector control theory,through building the model and completing simulation,realize the optimization of PID control effect.In response to the diversity of locomotive data,classify data and design acquisition board and control board circuit according to different requirements,build vehicle controller and design software part according to the flow chart of bottom layer and application layer.Figure[61]Table[13]Reference[80]...